Vehicle door actuator assembly

ABSTRACT

A vehicle door actuator assembly includes a base plate having a first portion and a second portion, a first gear disposed proximate the first portion of the base plate, a second gear disposed proximate the second portion of the base plate, a third gear connected to the base plate, and a linkage engaging the first, second, and third gears. The base plate of the vehicle door actuator assembly is rotatable between a first position and a second position. As the base plate rotates between the first and second positions, the vehicle door actuator assembly maintains an outer surface of the vehicle door substantially parallel to a longitudinal axis of the vehicle at all points along a travel path of the vehicle door.

RELATED APPLICATION

This application is a continuation of and claims priority to U.S. patentapplication Ser. No. 15/681,976, filed on Aug. 21, 2017, which isincorporated by reference herein.

BACKGROUND

Over the road vehicles typically include an interior space within whichone or more passengers may be seated during use of the vehicle. Suchinterior spaces may include seating for multiple passengers, as well asone or more controls associated with operation of the vehicle. Suchvehicles typically also include two or more doors that may be opened orclosed to allow passengers to access the interior space. For example,the doors may be transitioned between an open position allowingpassengers to enter or exit the interior space, and a closed positionsubstantially enclosing the interior space. Commonly, such doors may berotatably connected to a body, frame, and/or other portion of thevehicle. In such a configuration, a passenger wishing to enter theinterior space may open one of the doors by pivoting and/or rotating thedoor away from the vehicle in a first direction. Once inside theinterior space of the vehicle, the passenger may close the door bypivoting and/or rotating the door toward the vehicle in a seconddirection opposite the first direction.

However, opening and/or closing the doors of the vehicle in the mannerdescribed above can be problematic in some situations. For example,depending on the location of the vehicle and/or the proximity of thevehicle to other vehicles or objects when the vehicle is parked, it maybe difficult to pivot and/or rotate the door. For example, in situationsin which the vehicle is parked relatively close to a wall, a telephonepole, and/or another vehicle, space around one or more of the doors maybe relatively limited. In such situations, it may be difficult to fullyrotate the door to the open position, and as a result, passengers mayhave difficulty entering and/or exiting the interior space of thevehicle. Additionally, while vehicles such as vans or buses may includevehicle doors that move substantially laterally relative to the body ofthe vehicle, such vehicles typically utilize four-bar linkages or otherrelatively complicated assemblies to facilitate opening and closing suchdoors. Such assemblies can be relatively complicated, are prone tofailure, and create aesthetically unappealing connections.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description is described with reference to the accompanyingfigures. In the figures, the left-most digit of a reference numberidentifies the figure in which the reference number first appears. Thesame reference numbers in different figures indicate similar oridentical items.

FIG. 1 is a perspective view of an example of a vehicle according tosome examples of the present disclosure.

FIG. 2 is a perspective view of a portion of the vehicle shown in FIG.1, including an example door actuator assembly of the presentdisclosure.

FIG. 3 is an exploded perspective view of the example door actuatorassembly shown in FIG. 2.

FIG. 4 is a plan view of the example door actuator assembly withportions removed for clarity.

FIG. 5 is a partial schematic view of the door actuator assemblyillustrating example first and second positions of a base plate includedin the actuator assembly. FIG. 5 also illustrates various actuation,disconnection, and control components associated with the vehicle and/orthe door actuator assembly.

FIG. 6a illustrates an example base plate of the door actuator assemblyaccording to another embodiment of the present disclosure.

FIG. 6b illustrates an example base plate of the door actuator assemblyaccording to still another embodiment of the present disclosure.

FIG. 6c illustrates an example base plate of the door actuator assemblyaccording to a further embodiment of the present disclosure.

FIG. 7 is a flow diagram illustrating an example method of moving avehicle door between an open position and a closed position with a dooractuator assembly.

FIGS. 8-11 illustrate another example door actuator assembly of thepresent disclosure.

DETAILED DESCRIPTION

Example vehicles, such as example autonomous vehicles, may include oneor more doors movably connected to a frame, body, and/or other componentof the vehicle via one or more vehicle door actuator assemblies. Forexample, a first door actuator assembly may connect a first portion of avehicle door to the vehicle, and a second door actuator assembly mayconnect a second portion of the vehicle door to the vehicle. In suchexamples, the vehicle door actuator assemblies may include variouscomponents configured to transition the door between an open positionproviding access to an interior space of the vehicle, and a closedposition blocking access to the interior space. Additionally, whentransitioning the vehicle door between the open and closed positions,the one or more vehicle door actuator assemblies may be configured tomove the door along a travel path such that a face and/or other outersurface of the door remains substantially parallel to a longitudinalaxis of the vehicle at all points along the travel path. Such a travelpath may extend from, for example, the closed position to the openposition. As a result, passengers may be able to enter and exit theinterior space of the vehicle even when the vehicle is parked inrelatively close proximity to another vehicle or other object.

In example embodiments, a door actuator assembly of the presentdisclosure may include a housing that is connected to the frame of thevehicle, and one or more of the door actuator assembly components may berotatable into and out of the housing to transition the vehicle doorbetween the open and closed positions. For example, the door actuatorassembly may include a base plate that is rotatable into and out of thehousing about an axis of the door actuator assembly. In such examples, avehicle door may be connected to an end of the base plate opposite therotation axis such that movement of the base plate causes commensuratemovement of the vehicle door.

In some examples, the base plate may be substantially L-shaped or anyother shape to facilitate movement of the base plate, and the componentsof the door actuator assembly disposed on the base plate, about therotation axis and within relatively close proximity to a frame of thevehicle. For instance, the door actuator assembly may include a firstgear disposed proximate a first portion of the base plate, a second geardisposed proximate a second portion of the base plate opposite the firstportion, and a third gear disposed on the base plate at a locationsubstantially between the first and second gears. In such examples, thefirst gear may be disposed proximate a first end of the base plate towhich the vehicle door is connected. For example, the first gear may befixedly coupled to a portion of a bracket that is rotatably connected tothe first end of the base plate, and the vehicle door may be connectedto the base plate via the bracket. In such examples, the bracket may beconnected to the base plate such that the first gear extends through anorifice of the base plate at the first end.

The second gear may be disposed at a second end of the base plateopposite the first end. For example, the second gear may be fixedlycoupled to an additional bracket that is connected to the frame of thevehicle. In such examples, the second gear may be disposed on a pin,shaft, bearing, and/or other component of the base plate, and the baseplate may be driven to rotate about a central axis of the second gear.Thus, the central axis of the second gear may comprise a rotation axisof the base plate, and the rotation axis may extend substantiallyperpendicular to a longitudinal axis of the vehicle. In such examples,the additional bracket and the second gear may remain fixed (i.e.,stationary) relative to the frame of the vehicle as the base platerotates about the rotation axis.

In some examples the door actuator assembly may further include a singlebelt, chain, and/or other linkage engaging the first, second, and thirdgears. In such examples, the door actuator assembly may also include atop plate connected to the base plate, and a fourth gear fixedly mountedto the top plate. The fourth gear may be, for example, coupled to anactuation device such that activation of the actuation device may driverotation of the base plate, via the fourth gear, about the rotation axisdescribed above. In some embodiments, the central axis of the secondgear may comprise a central axis of the fourth gear (i.e., the fourthgear may be coaxial with the second gear). For example, an output shaftor other output component of the actuation device may be mechanicallyand/or otherwise operably coupled to the fourth gear such that rotationor other movement of the output component may drive rotation of thefourth gear. Such rotation of the fourth gear may cause commensuraterotation of the base plate about the rotation axis described above. Inaddition, as the base plate is caused to rotate about the rotation axis,the linkage may be operable to transmit rotational torque or otherforces from the output component of the actuation device to the othergears of the door actuator assembly. In particular, as the base plate iscaused to rotate, the linkage may cause commensurate rotation of thefirst and third gears. In this way, the base plate may be rotatable, inresponse to activation of the actuation device, between a first positioncorresponding to the closed position of the vehicle door and a secondposition corresponding to the open position of the vehicle door.

When transitioning the vehicle door from the closed position to the openposition, rotation of the base plate may cause the vehicle door totravel in a first direction away from the frame of the vehicle whilecausing a face and/or other outer surface of the vehicle door to remainsubstantially parallel to the longitudinal axis of the vehicle. Once thevehicle door has traveled a desired distance in the first direction,rotation of the base plate may cause the vehicle door to travel in asecond direction substantially parallel to the longitudinal axis of thevehicle while causing the face and/or other outer surface of the vehicledoor to remain substantially parallel to the longitudinal axis of thevehicle. In any of the examples described herein, the face and/or otherouter surface of the vehicle door may travel along a path substantiallyparallel to the longitudinal axis of the vehicle for at least a majorityof the range of travel of the base plate. As will be evident from theexample embodiments described below, the vehicle door actuationassemblies of the present disclosure are more robust, less complicated,and more reliable than existing systems utilized to open and close cardoors. The techniques, assemblies, and systems described herein may beimplemented in a number of ways. Example implementations are providedbelow with reference to the following figures.

FIG. 1 shows an example of an automated vehicle system 100 that includesa plurality of example vehicle door actuator assemblies 102, 104, 106,108 connected to a vehicle 110. As shown schematically in FIG. 1, insome examples a first pair of vehicle door actuator assemblies 102, 106may be operably and/or otherwise connected to a first door of thevehicle 110, and a second pair of vehicle door actuator assemblies 104,108 may be operably and/or otherwise connected to a second door of thevehicle 110. In other examples, on the other hand, only a single suchvehicle door actuator assembly may be connected to each door of thevehicle 110.

In example embodiments, the vehicle 110 may be configured to travelacross an area 112 (e.g., a road surface) to transport people and/orcargo from a first location to a second location. For the purpose ofillustration, the vehicle 110 may comprise an autonomous vehicleconfigured to operate according to a Level 5 classification issued in2016 by the U.S. National Highway Traffic Safety Administration, whichdescribes a vehicle capable of performing all safety-critical functionsfor the entire trip, with the driver (or occupant) not being expected tocontrol the vehicle at any time. In that case, since the vehicle may beconfigured to control all functions from start to stop, including allparking functions, it may be unoccupied. This is merely an example, andthe systems and methods described herein may be incorporated into anyground-borne vehicle, including those ranging from vehicles that arepartially autonomously controlled, such that they can be autonomouslycontrolled without driver attention or assist during certain drivingconditions, such as, for example, while operating on limited-accesshighways, but such that they require driver attention and/or assistanceduring other driving conditions, such as, for example, while operatingon city streets in urban areas, or during at least some parkingfunctions. As discussed below, in some cases, when occupied, the vehiclesystem 100 may limit acceleration based on passenger preferences, forexample, for one or more passengers in the vehicle.

The example vehicle 110 shown in FIG. 1 is an automobile having fourwheels 114 and respective tires 116 for each of the wheels 114. Othertypes and configurations of vehicles are contemplated, such as, forexample, vans, sport utility vehicles, crossover vehicles, trucks,buses, agricultural vehicles, and construction vehicles. The vehicle 110may be powered by one or more internal combustion engines, one or morebatteries and electric motors, hydrogen fuel cells, or any combinationthereof. In addition, although the example vehicle 110 has four wheels,the systems and methods described herein may be incorporated intovehicles having fewer or a greater number of wheels, tires, and/ortracks. The example vehicle 110 has four-wheel steering and may operategenerally with equal performance characteristics in all directions, forexample, such that a first end 118 of the vehicle 110 is the front endof the vehicle 110 when traveling in the forward direction 120, and suchthat the first end 118 becomes the rear end of the vehicle 110 whentraveling in the opposite rearward direction 122. Similarly, a secondend 124 of the vehicle 110 is the front end of the vehicle 110 whentraveling in the direction 122, and such that the second end 124 becomesthe rear end of the vehicle 110 when traveling in the direction 120.These example characteristics may facilitate greater maneuverability,for example, in small spaces or crowded environments, such as parkinglots and urban areas.

The example vehicle 110 shown in FIG. 1 includes one or more doors 126on each side 128 of the vehicle 110 for facilitating entry and exit ofoccupants and cargo to and from an interior space 130 of the vehicle110. The systems and methods described herein may be incorporated intovehicles 110 having fewer or a greater number of doors 126. The vehicle110 shown in FIG. 1 also includes a windshield 131 and a roof 132extending substantially (e.g., almost entirely) between the first end118 and second end 124 of the vehicle 110. In some examples, the vehicle110 may not include a windshield. Because the example vehicle 110 is aLevel 5 autonomous vehicle, a windshield is not necessary. In someexamples, the vehicle 110 may include a windshield 131, however,regardless of whether the vehicle 110 is configured to be autonomous ormanually controlled by a driver. In some examples, at least a portion ofthe roof 132 may include one more solar cells configured to supplyelectric energy to the vehicle 110 for powering one or more electricallypowered systems of the vehicle 110.

In the example shown in FIG. 1, the vehicle system 100 may also includeone or more sensor arrays 134, which may include, for example, one ormore imagers 136, RADAR sensors 138, LIDAR sensors 140, and/or othercomponents mounted on the vehicle 110. The components 136, 138, 140 ofthe sensor arrays 134 may be arranged in a predetermined pattern, forexample, in order to provide a desired area of coverage of the area 112proximate the vehicle 110. In some examples, as shown, the components136, 138, 140 of the sensor arrays 134 can be disposed in a pattern thatenables approximately 360-degree coverage around the vehicle 110. Thiscan enable the vehicle 110 to detect objects regardless of whichdirection 120, 122 the vehicle 110 is traveling. This can also enablethe vehicle system 100 to detect objects approaching from the sides ofthe vehicle 110 (e.g., a dog, or other animal, running into the street).Other patterns and arrangements of the components 136, 138, 140 of thesensor arrays 134 are contemplated.

The imagers 136 may be any known types of digital image sensors, digitalor analog cameras, and/or digital or analog video cameras. The imagers136 may be high dynamic range (HDR) cameras, for example, to provideimproved accuracy of the images. In some examples, the imagers 136 mayinclude one or more of light-sensitive cameras, range sensors,tomography devices, RADAR, and/or ultra-sonic cameras. Other suitabletypes of imagers are contemplated. The imagers 136 may be selected toprovide two-dimensional (2-D) image data, two and a half-dimensional(2.5d, or depth maps), and/or three-dimensional (3D) image data, imagesequences, gray image data, and/or color image data. In some examples,the imagers 136 may be selected to provide depth data, absorption data,and/or reflectance data.

As shown in FIG. 1, the example sensor arrays 134 may be mounted to aportion of the vehicle 110 that provides a line-of-site view of aportion of the area 112 around the vehicle 110, with at least somecomponent 136, 138, 140 of the sensor arrays 134 being pointed in thedirection of travel. As shown, each example sensor array 134 can bemounted to a portion of the roof 132. As shown in FIG. 1, in someexamples, one or more of the components 136, 138, 140 of the sensorarrays 134 may be arranged laterally along the roof 132, and may beaimed substantially aligned with and/or substantially transverse to alongitudinal axis X of the vehicle 110. In any of the examples describedherein, the longitudinal axis X may be defined by and/or may passsubstantially centrally through the frame, body, other components of thevehicle 110, and/or the vehicle 110, generally.

FIG. 2 illustrates various components of the vehicle system 100 infurther detail. For example, as shown in FIG. 2, the vehicle system 100may include one or more of the vehicle door actuator assembliesdescribed above. Such example vehicle door actuator assemblies areidentified generally as item numeral 200 in FIGS. 2-5, and suchassemblies 200 may be configured to assist in opening and closing one ormore doors 126 of the vehicle 110. Although the example vehicle doorassemblies 200 will be described below with reference to respectivevehicle doors 126, it is understood that in additional embodiments, suchassemblies 200 may also be used to assist in opening and closing anyother type of door such as a door in a commercial building, a home, ashed, and/or other structure. In still further examples, any of theassemblies 200 described herein may be used to actuate and/or otherwisemove a first object relative to a second object, and it is understoodthat the utility of the assemblies 200 described herein is not in anylimited to use in association with vehicles or doors. For instance, suchassemblies 200 may also be used in association with cabinetry,furniture, and/or other items. In some examples, a single door actuatorassembly 200 may be connected between a respective door 126 and a frame,body, and/or other component of the vehicle 110, and such a dooractuator assembly 200 may be configured to transition the door 126between an open position and a closed position. In other examples, suchas the example illustrated in FIG. 2, two or more vehicle door actuatorassemblies 200 a, 200 b may be connected between a respective door 126and the vehicle 110, and such vehicle door actuator assemblies 200 a,200 b may be configured to transition the door 126 between the open andclosed positions. In such examples, the vehicle door actuator assemblies200 a, 200 b may be substantially vertically aligned with one another inorder to assist in moving a respective door 126. Alternatively, infurther examples, one of the vehicle door actuator assemblies 200 a maybe laterally and/or longitudinally offset from the other door actuatorassembly 200 b to assist with controllably moving the door 126. In anyof the examples described herein, the one or more vehicle door actuatorassemblies 200 coupled to a respective door 126 may be configured suchthat any lateral movement of the door 126 (e.g., movement of the door126 in the forward direction 120 or in the rearward direction 122) maybe maintained along a path, at least a portion of which is substantiallyparallel to the longitudinal axis X of the vehicle 110. Such an examplepath corresponding to the door 126 a is illustrated by the arrow X′shown in FIG. 2, and an example path corresponding to the door 126 b isillustrated by the example arrow X″ shown in FIG. 2. It is understoodthat in any of the examples described herein, when transitioning thevehicle door 126 between the open and closed positions, the one or morevehicle door actuator assemblies 200 may be configured to move thevehicle door 126 along a travel path, such that a face and/or otherouter surface of the vehicle door 126 remains substantially parallel tothe longitudinal axis X of the vehicle 110 at all points along thetravel path. It is understood that such an example path may extend fromthe closed position of the vehicle door 126 to the open position of thevehicle door 126, and vice versa.

For example, in transitioning the door 126 between the open position andthe closed position, the one or more vehicle door actuator assemblies200 coupled to the door 126 may move the door 126 along a pathsubstantially parallel to the longitudinal axis X when moving the door126 in the forward direction 120 or in the rearward direction 122.Transitioning the door 126 between the open position and the closedposition may also include movement of the door 126 in a directionsubstantially perpendicular to the longitudinal axis X (e.g., inwardtoward the interior space 130 when closing the door 126 and outward awayfrom the interior space 130 when initially opening the door 126) for aportion of door travel path. As can be seen from FIG. 2, in someexamples, approximately 80% of the path X′, X″ traveled by a respectivedoor 126 a, 126 b may be substantially parallel to the longitudinal axisX when the respective door 126 a, 126 b transitions between the openposition and the closed position. In such examples, a remainingapproximately 20% of the path X′, X″ traveled by the respective door 126a, 126 b may be substantially perpendicular to the longitudinal axis Xwhen the respective door 126 a, 126 b transitions between the openposition and the closed position. In further examples, such percentagesmay be greater than or less than those listed above, and it isunderstood that any of the example paths X′, X″ described herein mayinclude a desired radius of curvature as the direction of the path X′,X″ changes from substantially perpendicular to the longitudinal axis Xto substantially parallel to the longitudinal axis X. Regardless of thepath (e.g. example paths X′ and X″), the door actuator assemblies 200described herein may be configured to maintain a face and/or other outersurface of the vehicle door 126 substantially parallel with thelongitudinal axis X at any point along the path.

Further, in any of the examples described herein, a “closed” position ofthe vehicle door 126 may be defined as a position in which the vehicledoor 126 is disposed adjacent to and/or in contact with the frame, body,and/or other portions of the vehicle 110 such that the door 126 (or thevehicle doors 126 in combination) substantially enclose the interiorspace 130 and/or substantially block access to the interior space 130from a location outside of the vehicle 110. Example closed positions ofthe doors 126 are illustrated in FIG. 1. Likewise, in any of theexamples described herein, an “open” position of the vehicle door 126may be defined as a position in which the vehicle door 126 is disposedajar relative to the frame, body, and/or other portions of the vehicle110 such that the door 126 (or the vehicle doors 126 in combination)permits access to the interior space 130 from a location outside of thevehicle 110. Example open positions of the doors 126 a, 126 b areillustrated in FIG. 2.

In some examples, the door actuator assembly 200 may include one or morecomponents, configured to facilitate movement of the door 126. Forexample, the door actuator assembly 200 may include a base plate 202that is rotatable, pivotable, and/or otherwise movable about arotational axis Y relative to the body of the vehicle. In some examples,the rotational axis Y may be substantially perpendicular to thelongitudinal axis X of the vehicle 110. The base plate 202 may have anyshape, size, and/or other configuration in order to assist in moving therespective door 126. For example, the base plate 202 may besubstantially L-shaped in order to increase the range of travel of thedoor 126 as the door 126 is transitioned between the open position andthe closed position. In still further examples, the base plate 202 maybe substantially linear, substantially arcuate, substantiallyelliptical, substantially C-shaped, substantially Z-shaped, and/or anyother shape. Several alternative base plate examples are described belowwith reference to FIGS. 6a, 6b, and 6c . The door actuator assembly 200may also include one or more gears 204, and at least one of the gears204 may be connected to the base plate 202. In some examples, one ormore of the gears 204 may be rotatable relative to the base plate 202,the housing 208, and/or the frame of the vehicle 110, while in otherexamples, one or more of the gears 204 may be fixed relative to the baseplate 202, the housing 208, and/or the frame of the vehicle 110.Although FIG. 2 illustrates a single gear 204, as will be described infurther detail below, in any of the examples described herein the dooractuator assembly 200 may include more than a single gear 204 in orderto facilitate movement of a respective door 126. In particular, suchadditional gears may be configured to assist in rotation of the baseplate 202 about the rotational axis Y and/or relative to one or morestationary components of the door actuator assembly 200. In any of theexamples described herein, one or more of the gears 204 may have asubstantially cylindrical and/or substantially annular configuration. Inother examples, on the other hand, one or more of the gears 204 may besubstantially oblong and/or any other shape. Additionally, in someexamples, one or more of the gears 204 may not include teeth, or mayinclude a perimeter in which at least a portion thereof is withoutteeth. In such examples, the one or more of the gears 204 may be similarto a pulley or other like device.

The door actuator assembly 200 may also include one or more linkages 206mating with, meshed with, contacting, and/or otherwise engaging at leastone of the gears 204. For example, the door actuator assembly 200 mayinclude a single linkage 206 engaging one or more of the gears 204described herein. In some examples, the door actuator assembly 200 mayinclude a single linkage 206 engaging each of the one or more gears 204included in the door actuator assembly 200. In such examples, thelinkage 206 may comprise a belt, a chain, a band, and/or any othersubstantially nonstretchable component of the door actuator assembly 200configured to transmit and/or transfer torque, movement, and/orrotational forces between the one or more gears 204 of the door actuatorassembly 200. For instance, one or more of the gears 204 may includeteeth extending from a perimeter thereof, and the linkage 206 mayinclude one or more links, gaps, openings, treads, or other structuresmeshed with, contacting, rigidly connected to, mating with, and/orotherwise engaging one or more of the teeth. In some examples, thelinkage 206 may be fixed to and/or may remain substantially stationaryrelative to one or more of the gears 204 described herein as the baseplate 202 rotates about the rotational axis Y. Alternatively, in otherexamples the linkage 206 may be configured to move relative to at leastone of the gears 204. As will be described in greater detail below, thelinkage 206, at least one gear 204, and/or one or more other componentsof the door actuator assembly 200 may be coupled to an actuation deviceconfigured to drive rotation of the base plate 202. In such examples,the linkage 206 may transmit and/or transfer torque, movement, and/orrotational force from the actuation device to the one or more gears 204of the door actuator assembly 200 to rotate the base plate 202 about therotational axis Y.

With continued reference to FIG. 2, an example door actuator assembly200 may further include a housing 208. The housing 208 may comprise asubstantially rigid structure by which the door actuator assembly 200can be mounted to at least a portion of the frame, body, and/or othercomponents of the vehicle 110. In such examples, the housing 208 may bemade from aluminum, steel, and/or any other metal, alloy, plastic,polymer, or other substantially rigid material known in the art.Additionally, the base plate 202 may be made from any of the materialsdescribed above with respect to the housing 208. In some examples, thebase plate 202 may be made from the same material as the housing 208,while in other examples, the base plate 202 may be made from a differentmaterial than the housing 208. As shown in FIG. 2, the housing 208 mayinclude a base 210, and a top 212 disposed opposite the base 210 andconnected to the base 210. In such examples, the base 210 and the top212 may comprise opposing mating portions of the housing 208, and one ormore respective walls 214, 216 of the base 210 and the top 212 maydefine at least a portion of an interior space 218 of the housing 208.For example, the base 210 may extend substantially parallel to the top212, and the interior space 218 may extend from the base 210 to the top212. The interior space 218 may be substantially completely enclosed bythe base 210, the top 212, one or more of the walls 214, 216, and/or byother structures of the housing 208. Additionally, in some examples oneor more of the walls 214, 216, and/or other structures of the housing208 may define an opening 220 of the housing 208 through which theinterior space 218 may be accessed. For example, the interior space 218may be shaped, sized, and/or otherwise configured such thatsubstantially the entire base plate 202 may be disposed within theinterior space 218 of the housing 208 when the base plate 202 is rotatedin a first direction 222. For example, the base plate 202 may be rotatedabout the rotational axis Y in the first direction 222 such that, in afirst position of the base plate 202, at least a portion of the baseplate 202 may be disposed substantially within the interior space 218.In such examples, the first position of the base plate 202 maycorrespond to a closed position of the door 126 to which the dooractuator assembly 200 is connected. Likewise, the base plate 202 may berotated about the rotational axis Y in a second direction 224 oppositethe first direction 222 such that, in a second position of the baseplate 202, the portion of the base plate 202 described above may bedisposed external to the interior space 218. In such examples, thesecond position of the base plate 202 may correspond to an open positionof the door 126 to which the door actuator assembly 200 is connected,and FIG. 2 illustrates an example second position of the base plate 202.In this way, at least the portion of the base plate 202 described abovemay pass through the opening 220 as the base plate 202 transitionsbetween the first position and the second position. The various portionsof the base plate 202 will be described in greater detail below withrespect to at least FIG. 3. Further, it is understood that in someexamples the housing 208 may be omitted.

The door actuator assembly 200 may also include one or more brackets 226configured to connect at least a portion of the door actuator assembly200 to a respective door 126 of the vehicle 110. For example, thebracket 226 may be connected to at least one of the gears 204, thelinkage 206, the base plate 202, and/or one or more additionalcomponents of the door actuator assembly 200. In such examples, thebracket 226 may be configured to rotate about a rotational axis Y′substantially parallel to the rotational axis Y as the base plate 202transitions between the first position and the second position. As aresult, the bracket 226 may be configured to assist the door 126 intraveling along the path X, X″ described above. In particular, intransitioning the door 126 between the open position and the closedposition, the bracket 226 connected to the door 126 may move the door126 along a path substantially parallel to the longitudinal axis X whenmoving the door 126 in the forward direction 120 or in the rearwarddirection 122. In particular, as noted above, the bracket 226 and/orother components of the door actuator assembly 200 may maintain a faceand/or other outer surface of a respective vehicle door 126substantially parallel with the longitudinal axis X at any point alongsuch a path. To facilitate movement of the door 126 along the pathdescribed above, in some examples the connection between the bracket 226and the at least one of the gears 204, the linkage 206, the base plate202, and/or one or more additional components of the door actuatorassembly 200 may cause the bracket 226 to rotate about the rotationalaxis Y′ in a direction opposite from the direction of rotation of thebase plate 202 as the door 126 transitions between the open position andthe closed position.

FIG. 3 is an exploded view illustrating various components of the dooractuator assembly 200 in further detail. As shown in FIG. 3, in someexamples the base plate 202 may be substantially L-shaped, and mayinclude a first portion 300 extending substantially linearly along alongitudinal axis Z of the base plate 202. In such examples, thelongitudinal axis Z may comprise a primary axis of the base plate 202,and the base plate 202 may also define a secondary axis (not shown)extending substantially perpendicular to the longitudinal axis Z. Insuch examples, the base plate 202 may also include a second portion 302disposed opposite the first portion 300, and the second portion 302 mayextend substantially linearly along a secondary axis of the base plate202. In some examples, the first portion 300 and/or the longitudinalaxis Z may extend at an included angle between approximately 60° andapproximately 120° from the second portion 302 and/or the secondary axisof the base plate 202. In further examples, the first portion 300 mayextend at an included angle less than approximately 60° or at anincluded angle greater than approximately 120° from the second portion302. Additionally, the base plate 202 may include an intermediateportion 304 disposed between and/or otherwise connecting the firstportion 300 and the second portion 302.

The second portion 302, and/or at least part of the intermediate portion304 may also define a camming surface 306 configured to engage with(e.g., slidably and/or rotatably engage) one or more components of thedoor actuator assembly 200. For example, as will be described in greaterdetail below, one or more rotatable, and/or otherwise movable componentsof the door actuator assembly 200 may be configured to slidably and/orrotatably engage at least part of the camming surface 306 as the baseplate 202 transitions between the first position and the secondposition. In such examples, the camming surface 306 may be defined by aside, edge, length, width, thickness, and/or other portion of the baseplate 202. For example, the base plate 202 may include a proximal end308, a distal end 310 opposite the proximal end 308, a top surface 312,and a bottom surface 313 disposed opposite the top surface 312. In suchexamples, the proximal end 308 of the base plate 202 may be disposedadjacent the intermediate portion 304 and/or the second portion 302, andthe camming surface 306 may be defined by a side (e.g., a thickness) ofthe base plate 202 extending from the top surface 312 to the bottomsurface 313. In still further examples, the camming surface 306 may bedefined by at least part of the first portion 300, the second portion302, and/or the intermediate portion 304.

As shown in FIG. 3, an example door actuator assembly 200 may include afirst gear 204 a, a second gear 204 b located proximate the proximal end308 and/or proximate the second portion 302, and a third gear 204 cconnected to the base plate 202 intermediate the first and second gears204 a, 204 b. In such examples, the first gear 204 a may be disposedproximate the distal end 310 of the base plate 202, and the second gear204 b may be disposed proximate an end of the second portion 302.Additionally, the third gear 204 c may be disposed proximate theproximal end 308 of the first portion 300. In such examples, the thirdgear 204 c may be disposed proximate and/or at the intermediate portion304. In any of the examples described herein, one or more of the gears204 may be rotatably and/or otherwise movably connected to a componentof the door actuator assembly 200. Additionally, one or more of thegears 204 may be fixedly connected to one or more such components. Forexample, as illustrated in FIG. 3 the bracket 226 may include a firsthalf 226 a and a second half 226 b disposed opposite and connected tothe first half 226 a. In such examples, the first gear 204 a may befixedly connected to the first half 226 a such that rotation of thefirst gear 204 a causes commensurate rotation of the first and secondhalves 226 a, 226 b of the bracket about the rotational axis Y′ (FIG.2). In such examples, the bracket 226 may be rotatably and/or otherwisemovably coupled to the distal end 310 of the base plate 202 such as viaone or more shafts, bearings, or other like components. Further, thebase plate 202 may include an orifice 311 disposed at the distal end310. At least a portion of the first gear 204 a and/or the first half226 a may extend through the orifice 311 and, as a result, the linkage206 may engage the first gear 204 a when the bracket 226 is coupled tothe distal end 310 of the base plate 202.

In any of the examples described herein, two or more of the gears 204 a,204 b, 204 c may have substantially the same diameter, pitch, number ofteeth, and/or other characteristic. Alternatively, in any of theexamples described herein, at least one of the gears 204 a, 204 b, 204 cmay have a different diameter, pitch, number of teeth, and/or othercharacteristic than the remaining gears 204 a, 204 b, 204 c of the dooractuator assembly 200 in order to provide an increased, decreased,and/or otherwise modified range of rotation of the base plate 202 and/ora path of rotation of the base plate 202.

Further, the door actuator assembly 200 may include one or moreadditional components configured to assist in mounting the various gears204. For example, one or more of the gears 204 a, 204 b, 204 c may bemounted to a respective pin 314 (e.g., pins 314 b, 314 c are illustratedin FIG. 3 with respect to gears 204 b, 204 c) and/or bearing. In suchexamples, one or more of the pins 314 (e.g., the pins 314 b, 314 c) maybe fixedly connected to the top surface 312, and a respective gear maybe rotatably connected to a respective one of the pins. For example, thethird gear 204 c may be rotatably connected to the pin 314 c via abearing or other like component. Such an arrangement may enable theindependent rotation of the third gear 204 c relative to the base plate202. However, in further examples, one or more different structures,and/or configurations may be employed to facilitate movement of one ormore of the gears 204 a, 204 b, 204 c relative to the base plate 202and/or relative to other components of the door actuator assembly 200 ifdesired.

In still further examples, one or more of the gears 204 a, 204 b, 204 c,such as the second gear 204 b, may be fixedly connected to a componentof the door actuator assembly 200. For example, the door actuatorassembly 200 may include an additional bracket 316 that is fixedlyconnected to the housing 208 and/or to a frame of the vehicle 110. Insuch examples, the base plate 202 may be configured to rotate about therotational axis Y relative to the stationary bracket 316. Additionally,as shown in FIG. 3, the second gear 204 b may be fixedly connected tothe bracket 316. In such examples, the base plate 202 may be driven torotate about the rotational axis Y relative to the fixed second gear 204b, and the rotational axis Y may comprise a central axis of the secondgear 204 b.

The door actuator assembly 200 may also include one or more additionalplates 318 connected to the base plate 202. For example, the additionalplate 318 may have substantially the same shape, size, and/or otherconfiguration of the base plate 202, and in such examples, theadditional plate 318 may be disposed opposite the base plate 202. Forexample, the additional plate 318 may comprise a cover configured tomate with the base plate 202 and to substantially enclose one or morecomponents of the door actuator assembly 200 within a compartment A(FIG. 5) formed by the base plate 202 and the additional plate 318. Insuch examples, the additional plate 318 may include a top surface 320and a bottom surface 322 opposite the top surface 320. Further, theadditional plate 318 may include one or more sidewalls extendingdownwardly from the top surface 320. Additionally or alternatively, thebase plate 202 may include one or more similar sidewalls extendingupwardly from the top surface 312. In such examples, one or more suchsidewalls may at least partially define a substantially enclosedcompartment A (FIG. 5) of the door actuator assembly 200 in combinationwith one or more surfaces of the base plate 202 and/or the additionalplate 318. For example, the additional plate 318 may be connected to thebase plate 202 such that the bottom surface 322 of the additional plate318 is disposed opposite and/or facing the top surface 312 of the baseplate 202. In such examples, the base plate 202 and the additional plate318 may form the substantially enclosed compartment A described aboveextending from the top surface 312 of the base plate 202 to the bottomsurface 322 of the additional plate 318. It is understood that in suchexamples, at least a portion of the linkage 206 may be disposed withinthe substantially enclosed compartment A. In such examples, at least aportion of the third gear 204 c may also be disposed within thesubstantially enclosed compartment A. In further examples, at least aportion of one or both of the first and second gears 204 a, 204 b mayalso be disposed within the substantially enclosed compartment A. In anyof the examples described herein, the substantially enclosed compartmentA may serve as a protective feature of the door actuator assembly 200 byat least partially shielding passengers of the vehicle 110 from thelinkage 206 and/or other components of the door actuator assembly 200.

Further, as shown in FIG. 3 the top plate 318 may include an orifice 323disposed at a distal end thereof. At least a portion of the first gear204 a and/or the second half 226 b may extend through the orifice 323and, as a result, the linkage 206 may engage the first gear 204 a whenthe bracket 226 is coupled to the base plate 202 and the top plate 318.For example, the orifices 311, 323 of the base plate 202 and the topplate 318 may enable the first half 226 a of the bracket to be connectedto the second half 226 b of the bracket via one or more screws, bolts,pins, clips, or other such connection devices extending at leastpartially through one or both of the orifices 311, 323.

The door actuator assembly 200 may also include a fourth gear 204 dfixedly connected to the top plate 318, such as to a top surface 320thereof. In such examples, the fourth gear 204 d may be acted upon,directly or indirectly, by a motor or other actuation device (notshown). In particular, the fourth gear 204 d may be driven by such anactuation device to rotate about the rotational axis Y, and rotation ofthe fourth gear 204 d may cause commensurate rotation of the top plate318 and the base plate 202 about the rotational axis Y relative to thehousing 208. In such examples, the fourth gear 204 d may be coaxial withthe second gear 204 b, and the rotational axis Y may comprise a centralaxis of both the second gear 204 b and the fourth gear 204 b. Further,the top 212 of the housing 208 may include an orifice 321 that issubstantially aligned with the fourth gear 204 d. For example, thefourth gear 204 d may extend at least partially through the orifice 321such that the fourth gear 204 d may be accessible by the motor or otheractuation device (not shown) described above. As a result, such a motoror other actuation device may be configured to drive rotation of and/orotherwise act on the fourth gear 204 d from a location outside of theinterior space 218 of the housing 208. In such example, the rotationalaxis Y may comprise a central axis of the orifice 321.

In some examples, the door actuator assembly 200 may further include aguard 324 connected to the housing 208 and configured to provideadditional protection associated with the moving components of the dooractuator assembly 200. For example, as noted above, the opening 220 maybe positioned such that at least part of the first portion 300 of thebase plate 202 passes through the opening 220 as the base plate 202transitions between the first position and the second position. In suchexamples, the guard 324 may be movably connected to the housing 208, andmay be configured to cover at least a portion of the opening 220 as thebase plate 202 transitions between the first position and the secondposition. For example, the guard 324 may cover at least a portion of theopening 220 when the base plate 202 is positioned such that at leastpart of the first portion 300 is disposed external to the interior space218 of the housing 208. In any of the embodiments described herein, theguard 324 may be rotatably mounted to the housing 208. For example, theguard 324 may include a section 326 that is pinned and/or otherwiserotatably connected to the housing 208 to facilitate movement of theguard 324 relative to the housing 208. For example, the door actuatorassembly 200 may include one or more pins, or other structuresconfigured to connect the section 326 to the housing 208, and suchstructures may enable the guard 324 to rotate about a rotational axis Brelative to the housing 208.

In some examples, the guard 324 may include one or more springs and/orother biasing members at the section 326 and configured to bias theguard 324 such that a follower surface 328 of the guard 324 ismaintained in substantially constant contact with the camming surface306 of the base plate 202. Biasing the guard 324 in this way may assistthe guard 324 in covering at least a portion of the opening 220throughout rotation of the base plate 202. In particular, such a biasingmember included at section 326 may apply a biasing force to the guard324, and the biasing force may cause at least the follower surface 328of the guard 324 to slidably and/or rotatably engage at least a portionof the camming surface 306 disposed opposite the guard 324 as the baseplate 202 transitions between the first position in the second position.

As shown in FIG. 3, in some examples the door actuator assembly 200 mayalso include a tension device 330 configured to apply a force to thelinkage 206, to modify a tension of the linkage 206, and/or to maintainthe linkage 206 at a desired substantially constant tension duringrotation of the base plate 202. For example, the tension device 330 mayinclude an arm 332 mounted to the base plate 202 and configured to acton at least a portion of the linkage 206. In some examples, the arm 332may be pivotably mounted the base plate 202 and the tension device 330may also include a set screw, a linear actuator, a solenoid, and/orother such positioning device 334 configured to move the arm 332relative to the base plate 202. In further examples, the arm 332 may besubstantially linearly movable relative to the base plate 202. Inexamples in which the arm 332 is movable substantially linearly relativeto the base plate 202, one or more of the set screws, linear actuators,solenoids, or other such positioning devices 334 may drive such linearmotion of the arm 332 by, for example, moving the arm 332 along a linearpath relative to the longitudinal axis Z. In any of the examplesdescribed herein, the positioning device 334 may be configured to moveat least part of the arm 332 in a direction toward the linkage 206 inorder to increase a tension of the linkage 206. Additionally, thepositioning device 334 may be configured to move at least part of thearm 332 in a direction away from the linkage 206 in order to decrease atension of the linkage 206. It is understood that the arm 332 may alsoinclude one or more wheels, gears, pulleys, bearings, and/or othercomponents configured to mate with the linkage 206. Such components may,for example, rotate in response to movement of the linkage 206 relativeto the base plate 202. Such components may also apply a desired force tothe linkage 206 as, for example, the base plate 202 moves between thefirst position and the second position. As noted above, FIG. 4illustrates another view (e.g., a plan view) of various components ofthe door actuator assembly 200. In the illustration of FIG. 4, theadditional plate 318 and the half 226 b of the bracket have been removedfor clarity.

FIG. 5 illustrates still further components of an example door actuatorassembly 200. FIG. 5 also illustrates the base plate 202 in an examplefirst position 500 in which the first portion 300 is disposedsubstantially within the interior space 218 of the housing 208, as wellas an example second position 502 in which the first portion 300 isdisposed external to the interior space 218. Such an example firstposition 500 may correspond to a closed position of the vehicle door126, and such an example second position 502 may correspond to an openposition of the vehicle door 126. As shown in FIG. 5, various componentsof the door actuator assembly 200 may be connected to a controller 504,and the controller 504 may be configured to direct movement of the baseplate 202 between the first position 500 and the second position 502. Inparticular, the controller 504 may comprise one or more computers, racksystems, processors, kernels, or other control devices of the vehicle110, and the controller 504 may be operably connected to variouscomponents of the door actuator assembly 200 in order to controloperation of such components. Alternatively, the controller 504 maycomprise one or more computers or other computing devices disposedremote from the vehicle 110 and connected to components of the dooractuator assembly 200 via one or more wireless networks. In any of theexamples described herein, the controller 504 may comprise amicroprocessor, a logical circuit, a field-programmable gate array,and/or other like component operable to execute stored commands forcontrolling various components. Further, the controller 504 may includeand/or may be connected to memory including computer readable media.Computer readable media may include volatile and non-volatile, removableand non-removable media implemented in any method or technology forstorage of information such as computer readable instructions, datastructures, program modules, or other data. As defined herein, computerreadable media does not include communication media in the form ofmodulated data signals, such as carrier waves, or other transmissionmechanisms.

With continued reference to FIG. 5, the door actuator assembly 200 mayalso include one or more actuation devices 506 configured to driverotation of the fourth gear 204 d and/or the base plate 202 about therotational axis Y. For example, the actuation device 506 may beconfigured to drive rotation of the fourth gear 204 d about therotational axis Y in the first direction 222, and driving the gear 204 dto rotate in the first direction 222 may transition the base plate 202from the second position 502 to the first position 500. Likewise, theactuation device 506 may be configured to drive rotation of the gear 204d about the rotational axis Y in the second direction 224, and drivingthe gear 204 d to rotate in the second direction 224 may transition thebase plate 202 from the first position 500 to the second position 502.As noted above, in such examples the fourth gear 204 d may be fixedlyconnected to the top plate 318. Further, driving rotation of the baseplate 202 via an actuation device 506 directly or indirectly connectedto the fourth gear 204 d may cause commensurate rotation of the firstand third gears 204 a, 204 c relative to the base plate 202. Forexample, as the base plate 202 is driven to rotate about the rotationalaxis Y, the linkage 206 may remain stationary relative to the fixedsecond gear 204 b. Such rotation of the base plate 202 while the linkage206 remains stationary relative to the second gear 204 b may result in(i.e., may drive) rotation of both the first and third gears 204 a, 204c relative to the base plate 202. Such rotation of, for example, thefirst gear 204 a may, drive commensurate rotation of the bracket 226and/or of the vehicle door 126 relative to the base plate 202.

In such examples, the actuation device 506 may comprise one or moresolenoids, electric motors, pneumatic actuators, piezoelectricactuators, and/or other known actuators. Additionally, the actuationdevice 506 may be configured to provide either a linear output or arotational output. For example, the actuation device 506 may include anoutput shaft that can be controlled by the controller 504 to rotate at adesired speed and/or at a desired increment of rotation. In suchexamples, the output shaft of the actuation device 506 may be coupled,either directly or via one or more worm gears, spur gears, shafts, orother linkages (i.e., indirectly), to the gear 204 d and/or to the baseplate 202 in order to controllably drive rotation thereof.Alternatively, the actuation device 506 may include an output shaft thatcan be controlled by the controller 504 to move a desired linear lengthand/or at a desired linear speed. In such examples, the output shaft ofthe actuation device 506 may be coupled, either directly or via one ormore shafts or other linkages, to the gear 204 d and/or to the baseplate 202 in order to controllably drive rotation thereof.

Although the actuation device 506 may be coupled to the gear 204 d,either directly or via one or more of the additional linkages describedabove, in further examples the door actuator assembly 200 may alsoinclude a disconnect device 508 operable to manually, automatically,electronically, and/or otherwise decouple the actuation device 506 fromthe gear 204 d and/or from the base plate 202. For example, thedisconnect device 508 may comprise one or more clutches, planetary gearsystems, independently movable linkages, and/or other structures of thedoor actuator assembly 200. Such structures may provide a controllableconnection between an output shaft or other output mechanism of theactuation device 506, and at least one of the gear 204 d and the baseplate 202. In some examples, the disconnect device 508 may be utilizedby a passenger of the vehicle 110 in order to decouple the actuationdevice 506 from the various other components of the door actuatorassembly 200 in case of emergency. In one example, the disconnect device506 may comprise one or more manual levers, shafts, clutches, armatures,or other components that may be manually moved or otherwise acted uponby a passenger to manually decouple, for example, the actuation device506 from the gear 204 d. In other examples, on the other hand, thedisconnect device 506 may comprise one or more electronic, pneumatic,electromagnetic, and/or other actuators which, when energized orotherwise activated in response to an input from a passenger, maydecouple the actuation device 506 from the gear 204 d. By decoupling theactuation device 506 via the disconnect device 508, the vehicle door 126to which the door actuator assembly 200 is connected may be openedmanually by the passenger without assistance from, for example, theactuation device 506. In any of the examples described herein, thedisconnect device 508 and/or one or more components thereof, may beconnected to the base plate 202.

Further, in any of the examples described herein the various operationsof the door actuator assembly 200 may be performed at least partly inresponse to one or more inputs provided by the passenger of the vehicle110. For example, the vehicle 110 may include one or more input devices510, 512 configured to receive an input from the passenger, generate acorresponding signal, and transmit such respective signals to thecontroller 504 for processing. Such input devices 510, 512 may include,among other things, one or more buttons, levers, handles, and/or othersuch input devices typically utilized by vehicles 110. In additionalexamples, one or more of the input devices 510, 512 may include a cameraor other device configured to receive a gesture-based and/or othernoncontact-based input from the passenger. In still further examples,one or more of the input devices 510, 512 may include a microphone orother device configured to receive a voice command, and/or other audibleinput from the passenger. In such examples, it is understood that theactuation device 506, the disconnect device 508, and one or more of theinput devices 510, 512 may be operably connected to the controller 504,and the controller 504 may be configured to activate and/or otherwiseoperate the actuation device 506 at least partly in response to an inputreceived via a corresponding input device 510. Likewise, the controller504 may be configured to activate, and/or otherwise operate thedisconnect device 508 at least partly in response to an input receivedvia a corresponding input device 512.

With continued reference to FIG. 5, in some examples the door actuatorassembly 200 may also include a locking device 514 having a firstconfiguration prohibiting the base plate 202 from transitioning from thefirst position 500 to the second position 502. In such examples, thelocking device 514 may also include a second configuration permittingthe base plate 202 to transition from the first position 500 to thesecond position 502. The locking device 514 may also have a thirdconfiguration prohibiting the base plate 202 from transitioning from thesecond position 502 to the first position 500. Thus, the locking device514 may be configured to “lock” and/or otherwise maintain the vehicledoor 126 in either the open position or the closed position. Forexample, the locking device 514 may include one or more pins, shafts,arms, extensions, linkages, hooks, latches, and/or other componentsmovably connected to the housing 208. In such examples, the lockingdevice 514 may also include one or more pneumatic actuators, solenoids,piezoelectric actuators, and/or other devices configured to controllablymove the locking device 514 between the first, second, and/or thirdconfigurations described above. For example, one or more such devicesmay be operably connected to the controller 504, and in such examplesone or more additional input devices 516 of the vehicle 110 may beconfigured to control operation of the locking device 514. The inputdevice 516 may comprise any of the input devices 510, 512 describedabove, and may be configured to receive an input from the passenger,generate a corresponding signal, and transmit such respective signals tothe controller 504 for processing. In such examples, the controller 504may be configured to controllably move the locking device 514 to a firstposition or configuration physically, magnetically, and/or otherwiseprohibiting at least part of the first portion 300 of the base plate 202from exiting the interior space 218 of the housing 208 by passingthrough the opening 220 of the housing 208 in response to a first inputreceived via the input device 516. The controller 504 may also beconfigured to controllably move the locking device 514 to a secondposition or configuration permitting the first portion 300 of the baseplate 202 to pass through the opening 220 in response to a second inputreceived via the input device 516. The controller 504 may further beconfigured to controllably move the locking device 514 to a thirdposition or configuration physically, magnetically, and/or otherwiseprohibiting at least part of the first portion 300 of the base plate 202from entering the interior space 218 of the housing 208 via the opening220 in response to a third input received via the input device 516.

Although the locking device 514 illustrated in FIG. 5 is disposedproximate the opening 220 of the housing 208, in further examples, thelocking device 514 may be disposed at one or more alternative locationswithin the interior space 218. For example, the locking device 514 mayalternatively be positioned at a location 518, within the interior space218, between the base plate 202 and an outer wall 520 of the housing 208when the base plate 202 is in the first position 500. In such examples,the locking device 514 may include one or more pins, shafts, arms,extensions, linkages, hooks, latches, and/or other components configuredto latch and/or otherwise contact a corresponding indentation, cove,cutout, and/or other structure of the base plate 202. In any of theexamples described herein, activation of the locking device 514 mayprohibit the vehicle door 126 to which the door actuator assembly 200 isconnected from transitioning from the closed position to the openposition. Additionally, as noted above, in any of the examples describedherein, activation of the locking device 514 may prohibit such a vehicledoor 126 from transitioning from the open position to the closedposition.

As noted above, the base plate 202 may have any shape, size, and/orother configuration to assist in transitioning the vehicle door 126between the closed position and the open position. For example, suchshapes, sizes, and/or other configurations may enable the base plate 202to rotate in the first and second directions 222, 224 without contactingthe frame, body, and/or other components of the vehicle 110 proximatethe vehicle door 126. In such examples, the shape, size, and/or otherconfigurations of the base plate 202 may increase the range of rotationof the base plate 202 during use. FIGS. 6a-6c illustrate configurationsof the base plate according to additional example embodiments of thepresent disclosure. As shown in FIG. 6a , in some examples the baseplate 602 a may be substantially linear in shape. For example, the baseplate 602 a may comprise a first portion 604 a extending substantiallylinearly along a longitudinal axis Z_(a) of the base plate 602 a (e.g.,a primary axis of the base plate 602 a). The base plate 602 a may alsoinclude a second portion 606 a disposed opposite the first portion 604 aand extending substantially along the longitudinal axis Z_(a). Theexample base plate 602 a may further include an intermediate portion 608a disposed between and/or otherwise adjacent the first portion 604 a andthe second portion 606 a. In such examples, the intermediate portion 608a may comprise a corner, cove, cutout, and/or other section of the baseplate 602 a configured to be disposed in relatively close proximity toat least a portion of the frame, body, and/or other components of thevehicle 110 when the base plate 602 a is transitioned to the secondposition 502 described above. For example, a corner, cove, cutout,and/or other section of the intermediate portion 608 a may be enlargedin order to increase the range of rotation of the base plate 602 a. Thebase plate 602 a may further include a camming surface 610 a formed byat least part of the second portion 606 a and/or the intermediateportion 608 a. Further, it is understood that the various portions,surfaces, and/or other components of the base plate 602 a may besubstantially similar to the analogous components of the example baseplate 202 described above. For example, although not illustrated in FIG.6a , it is understood that one or more of the gears 204 described above(e.g., the third gear 204 c) may be fixedly or rotatably connected tothe base plate 602 a.

As shown in FIG. 6b , in additional examples a base plate 602 b may besubstantially curved and/or substantially C-shaped. For example, thebase plate 602 b may comprise a first portion 604 b extendingsubstantially along a curved and/or arcuate primary axis Z_(b) of thebase plate 602 b. The base plate 602 b may also include a second portion606 b disposed opposite the first portion 604 b and extendingsubstantially along the primary axis Z_(b). The example base plate 602 bmay further include an intermediate portion 608 b disposed betweenand/or otherwise adjacent the first portion 604 b and the second portion606 b. In such examples, the intermediate portion 608 b may comprise acorner, cove, cutout, and/or other section of the base plate 602 bconfigured to be disposed in relatively close proximity to at least aportion of the frame, body, and/or other components of the vehicle 110when the base plate 602 b is transitioned to the second position 502described above. For example, the radius of curvature of theintermediate portion 608 b may be enlarged in order to increase therange of rotation of the base plate 602 b. The base plate 602 b mayfurther include a camming surface 610 b formed by at least part of thesecond portion 606 b and/or the intermediate portion 608 b. Further,although not illustrated in FIG. 6b , it is understood that one or moreof the gears 204 described above (e.g., the third gear 204 c) may befixedly or rotatably connected to the base plate 602 b.

As shown in FIG. 6c , in still further examples a base plate 602 c maybe zig-zag shaped such that at least part of the intermediate portion isexaggerated. For example, the base plate 602 c may comprise a firstportion 604 c extending substantially linearly along a longitudinalcenter line Z_(c) of the base plate 602 c (e.g., a primary axis of thebase plate 602 c). The base plate 602 c may also include a secondportion 606 c disposed opposite the first portion 604 c and extendingsubstantially along a secondary center line Z_(c′). In such examples,the longitudinal center line Z_(c) of the base plate 602 c may extend atan acute included angle θ from the secondary center line Z_(c′). In someexamples, the included angle θ may be between approximately 20 andapproximately 80°. In other examples, the included angle θ may be lessthan approximately 20° or greater than approximately 80°. The examplebase plate 602 c may further include an intermediate portion 608 cdisposed between and/or otherwise adjacent the first portion 604 c andthe second portion 606 c. In such examples, the intermediate portion 608c may comprise a corner, cove, cutout, and/or other section of the baseplate 602 c configured to be disposed in relatively close proximity toat least a portion of the frame, body, and/or other components of thevehicle 110 when the base plate 602 c is transitioned to the secondposition 502 described above. For example, the radius of curvature ofthe intermediate portion 608 b may be enlarged in order to increase therange of rotation of the base plate 602 c. Alternatively, the radius ofcurvature of the intermediate portion 608 b may be increased in order todecrease the range of rotation. Likewise, decreasing the radius ofcurvature of the intermediate portion 608 b may increase or decrease therange of rotation of the base plate 602 c. In any of the examplesdescribed herein, the range of rotation of the base plate may only belimited by the general shape of the base plate in relation to the frame,body, and/or other components of the vehicle 110. The base plate 602 bmay further include a camming surface 610 c formed by at least part ofthe second portion 606 c and/or the intermediate portion 608 c. Further,although not illustrated in FIG. 6c , it is understood that one or moreof the gears 204 described above (e.g., the third gear 204 c) may befixedly or rotatably connected to the base plate 602 c. In any of theexamples described herein, two, three, four, or more such gears 204 maybe included in the door actuator assembly, and one or more such gears204 may be fixedly or rotatably connected to any of the base platesdescribed herein.

In some examples, the base plate 602 c may further include an extension612 extending substantially linearly along a longitudinal center lineZ_(c″) of the base plate 602 c. In such embodiments, the base plate 602c may have a substantially Z-shaped configuration. For example, thelongitudinal center line Z_(c″) of the base plate 602 c may extend at anacute included angle θ′ from the longitudinal center line Z_(c). In someexamples, the included angle θ′ may be between approximately 200 andapproximately 80°. In other examples, the included angle θ′ may be lessthan approximately 20° or greater than approximately 80°. It isunderstood that the center line Z_(c″) may extend substantially parallelto the center line Z_(c′) and, in such examples, the angle θ′ may besubstantially equal to the angle θ. Further, the extension 612 maycomprise part of the first portion 604 c of the base plate 602 c. Insuch examples, at least one of the gears 204 described herein (e.g., thethird gear 204 c) may be connected to and/or otherwise disposed at alocation on the extension 612.

FIGS. 8-11 illustrate still another example vehicle door actuatorassembly of the present disclosure. Any of the components, methods,and/or other configurations described herein with respect to FIGS. 1-6 cand FIG. 7 may also be applicable to and/or included in the vehicle dooractuator assembly depicted in FIGS. 8-11. By way of example, the vehicledoor actuator assembly of FIGS. 8-11 may include, among other things, arigid mount connected to the vehicle body, an arm (goose neck) thatswivels on the mount, and connects and pivots to the door frame. Thegoose neck arm is driven by a motor or other actuation device, mostlikely through it's rotation axis, but is essentially free to pivot inany direction if the motor is disconnected. Parallelism of the motion ismaintained by a set of parallel links mounted at the top of the doorframe, which are un-powered and passive followers to the driven arm.

FIG. 7 is a flow diagram illustrating an example method 700 of moving avehicle door 126 between an open position and a closed position with adoor actuator assembly 200 of the present disclosure. The method 700shown in FIG. 7 is illustrated as a collection of blocks in a logicalflow graph, which represent a sequence of operations that can beimplemented in hardware, software, or a combination thereof. In thecontext of software, the blocks represent computer-executableinstructions stored on one or more computer-readable storage media that,when executed by one or more processors (e.g., by one or more processorsor other components of the controller 504 described above), cause theone or more processors to perform the recited operations. Generally,computer-executable instructions include routines, programs, objects,components, data structures, and the like that perform particularfunctions or implement particular abstract data types. The order inwhich the operations are described is not intended to be construed as alimitation, and any number of the described blocks can be combined inany order and/or in parallel to implement the processes.

It should be appreciated that the subject matter presented herein may beimplemented as a computer process, a computer-controlled apparatus, acomputing system, or an article of manufacture, such as acomputer-readable storage medium. While the subject matter describedwith respect to the method 700 is presented in the general context ofoperations that may be executed on and/or with one or more computingdevices, those skilled in the art will recognize that otherimplementations may be performed in combination with variousprogram/controller modules. Generally, such modules include routines,programs, components, data structures, and other types of structuresthat perform particular tasks or implement particular abstract datatypes.

Those skilled in the art will also appreciate that aspects of thesubject matter described with respect to the method 700 may be practicedon or in conjunction with other computer system configurations beyondthose described herein, including multiprocessor systems,microprocessor-based or programmable consumer electronics,minicomputers, mainframe computers, handheld computers, mobile telephonedevices, tablet computing devices, special-purposed hardware devices,network appliances, and the like.

As shown in FIG. 7, an example method of moving a vehicle door 126between an open position and a closed position with a door actuatorassembly 200 may include, at 702, receiving a first input. Such an inputmay be received via an input device 510 associated with the vehicle door126 and operably connected to the controller 504. For example, apassenger positioned within the interior space 130 may push, pull, move,swipe, touch, and/or otherwise provide an input via a handle, button,touch sensor, or other input device 510 associated with the vehicle door126 in order to open the vehicle door 126 from within the interior space130. Alternatively, a potential passenger positioned outside of thevehicle 110 may push, pull, move, swipe, touch, and/or otherwise providean input via a handle, button, touch sensor, or other input device 510associated with the vehicle door 126 in order to open the vehicle door126 from outside of the vehicle 110. In still another example, thecontroller 504, sensors, and/or components thereof may be configuredgenerate a signal indicative of a request to open the vehicle door 126,when the vehicle 110 stopped, in order to enable ingress and/or egress,and/or in case of emergency. In any of the examples described herein,the input device 510 may generate a signal indicative of a request toopen the vehicle door 126, and the input device 510 may provide such asignal to the controller 504 for processing.

At 704, the controller 504 may activate the actuation device 506 of thedoor actuator assembly 200 at least partly in response to the firstinput received at 702. For example, upon receiving the signal from theinput device 510, one or more processors of the controller 504 maygenerate an activation signal and/or other instructions, and may sendsuch a signal to the actuation device 506. In response, the actuationdevice 506 may drive rotation of the base plate 202 about the rotationaxis Y of the gear 204 b. In particular, at least partly in response tothe first input received at 702, the controller 504 may operate one ormore power sources associated with the vehicle 110 to direct current tothe actuation device 506, thereby activating the actuation device 506 todrive rotation of the base plate 202 about the rotational axis Y in thedirection 224. Rotating the base plate 202 in the direction 224 may, at706, transition the vehicle door 126 from the closed positionillustrated in FIG. 1 to the open position illustrated in FIG. 2.Additionally, transitioning the vehicle door 126 from the closedposition to the open position at 706 may include moving the vehicle door126 along a path that is substantially parallel to the longitudinal axisX of the vehicle 110. In such examples, the bracket 226, linkage 206,first gear 204 a, and/or other components of the door actuator assembly200 may maintain the vehicle door 126 along such a path at 706. It isalso understood that transitioning the door 126 from the closed positionto the open position at 706 may include moving the door 126 in adirection substantially perpendicular to the longitudinal axis X (e.g.,outward and away from the interior space 130) with the door actuatorassembly 200. For example, transitioning the door 126 from the closedposition to the open position at 706 may include moving the door 126along a path such that a face and/or other outer surface of the door 126remains substantially parallel to the longitudinal axis X of the vehicle110 at all points along the path. As noted above, in other examples, adiameter of one or more of the gears 204 may be increased or decreasedrelative to, for example, at least one of the remaining gears includedin the vehicle door actuator assembly. In such examples, changing adiameter of one or more of the gears 204 in this way may change the pathtraveled by the vehicle door 126 as the door 126 is transitioned betweenthe closed and open positions. For example, enlarging the diameter of atleast the third gear 204 c with respect to at least one of the firstgear 204 a or the second gear 204 b may cause the door 126 to move alonga path in which a face and/or other outer surface of the door 126 isdisposed at an acute included angle relative to the longitudinal axis Xas the door 126 is transitioned between the closed and open positions.It is understood that the value of such an acute included angle may becontrolled (i.e., changed) based on the magnitude of the increase indiameter of at least the third gear 204 c. It is also understood that insuch examples, a front of the vehicle door 126 may be disposed closer tothe longitudinal axis X than a rear of the vehicle door 126 during atleast part of such a path. Alternatively, reducing the diameter of atleast the third gear 204 c with respect to at least one of the firstgear 204 a or the second gear 204 b may also cause the door 126 to movealong an alternate path in which the face and/or other outer surface ofthe door 126 is disposed at an acute included angle relative to thelongitudinal axis X as the door 126 is transitioned between the closedand open positions. It is understood that the value of such an acuteincluded angle may be controlled (i.e., changed) based on the magnitudeof the decrease in diameter of at least the third gear 204 c. It is alsounderstood that in such examples, the front of the vehicle door 126 maybe disposed further away from the longitudinal axis X than the rear ofthe vehicle door 126 during at least part of such an alternate path.

As described above, example vehicle door actuator assemblies 200 of thepresent disclosure may include a housing 208 having an opening 220defined by one or more walls 214, 216 of the housing 208. Accordingly,transitioning the vehicle door 126 from the closed position to the openposition at 706 may include passing at least part of the first portion300 of the base plate 202 through the opening 220. In such examples,substantially the entire first portion 300 may pass through the opening220 as the vehicle door 126 transitions from the closed position to theopen position. Additionally, example door actuator assemblies 200 of thepresent disclosure may include a guard 324 rotatably and/or otherwisemovably connected to at least a portion of the housing 208 proximate theopening 220. Accordingly, transitioning the vehicle door 126 from theclosed position to the open position at 706 may include slidably and/orrotatably engaging at least a portion of the base plate 202 with theguard 324. For example, the guard 324 may be biased to rotate in thedirection 222 toward the base plate 202. In such examples, at least thefollower surface 328 of the guard 324 may slidably engage at least aportion of the camming surface 306 of the base plate 202 as the vehicledoor 126 transitions from the closed position to the open position at706.

At 708 the controller 504 may receive a second input. Such an input maybe received via any of the input devices 510 described above. Forexample, a passenger positioned within the interior space 130 may push,pull, and/or otherwise move a handle or other input device 510associated with the vehicle door 126 in order to close the vehicle door126 from within the interior space 130. Alternatively, a potentialpassenger positioned outside of the vehicle 110 may push, pull, and/orotherwise move a handle or other input device 510 associated with thevehicle door 126 in order to close the vehicle door 126 from outside ofthe vehicle 110. In still further examples, the second input received at708 may be generated by the controller 504 after a fixed period of timeafter receiving an input signal. In such examples, the controller 504may be configured to automatically close the vehicle door 126 after sucha fixed period of time has passed. In any of the examples describedherein, the input device 510 may generate a corresponding signalindicative of a request to close the vehicle door 126, and the inputdevice 510 may provide such a signal to the controller 504 forprocessing.

At 710, the controller 504 may activate the actuation device 506 of thedoor actuator assembly 200 at least partly in response to the secondinput received at 708. For example, upon receiving the signal from theinput device 510 at 708, one or more processors of the controller 504may generate an activation signal and/or other instructions, and maysend such a signal to the actuation device 506. In response, theactuation device 506 may drive rotation of the base plate 202 about therotational axis Y of the gear 204 b. In particular, at least partly inresponse to the second input received at 708, the controller 504 mayoperate one or more power sources associated with the vehicle 110 todirect current to the actuation device 506, thereby activating theactuation device 506 to drive rotation of the base plate 202 about therotational axis Y in the direction 222. Rotating the base plate 202 inthe direction 222 may, at 712, transition the vehicle door 126 from theopen position illustrated in FIG. 2 to the closed position illustratedin FIG. 1. Additionally, transitioning the vehicle door 126 from theopen position to the closed position at 712 may include moving thevehicle door 126 along the path described above (e.g., along a path thatis substantially parallel to the longitudinal axis X of the vehicle110). For instance, transitioning the vehicle door 126 from the openposition to the closed position at 712 may include moving the vehicledoor 126 along a path such that a face and/or other outer surface of thedoor 126 remains substantially parallel to the longitudinal axis X ofthe vehicle 110 at all points along the path. In such examples, thebracket 226, linkage 206, first gear 204 a, and/or other components ofthe door actuator assembly 200 may maintain the vehicle door 126 alongsuch a path at 712. It is also understood that transitioning the door126 from the open position to the closed position at 712 may includemoving the door 126 in a direction substantially perpendicular to thelongitudinal axis X (e.g., inward and toward the interior space 130)with the door actuator assembly 200. During such inward movement of thedoor 126, the face and/or other outer surface of the door 126 may remainsubstantially parallel to the longitudinal axis X of the vehicle 110.

In some examples, the method 700 may also include receiving a thirdinput at 714. For example, at 714 the controller 504 may receive a thirdinput via the input device 516 described above. In such examples apassenger positioned within the interior space 130 may push, pull,and/or otherwise move a handle, button, lever, or other input device 516associated with the vehicle door 126 in order to lock the vehicle door126. In response, the input device 516 may generate a correspondingelectronic and/or mechanical signal indicative of a request to lock thevehicle door 126, and the input device 516 may provide such a signal tothe controller 504 for processing.

At 716, the controller 504 may activate the locking device 514 of thedoor actuator assembly 200 at least partly in response to the thirdinput received at 714, or the controller 504 may activate the lockingdevice 514 automatically once the vehicle 110 has been in motion for apredetermined period of time. For example, upon receiving the signalfrom the input device 516 at 714, one or more processors of thecontroller 504 may generate an activation signal and/or otherinstructions, and may send such a signal to the locking device 514. Inresponse, the locking device 514 may transition at least one componentof the locking device 514 from a first position or configurationphysically, magnetically, and/or otherwise permitting the first portion300 of the base plate 202 to pass through the opening 220, to a secondposition or configuration prohibiting at least part of the first portion300 of the base plate 202 from passing through the opening 220 of thehousing 208. In particular, at least partly in response to the thirdinput received at 714, the controller 504 may operate one or more powersources associated with the vehicle 110 to direct current to the lockingdevice 514, thereby activating the locking device 514. In any of theexamples described herein, the method 700 may also include one or moresimilar operations in which the controller 504 may deactivate thelocking device 514 in order to unlock the vehicle door 126.

In still further examples, the method 700 may include activating adisconnect device at 718. For example, at 718 the controller 504 mayreceive an input (e.g., a fourth input) via the input device 512described above. In such examples a passenger positioned within theinterior space 130 may push, pull, and/or otherwise move a handle,button, lever, or other input device 512 associated with the vehicledoor 126 in order to controllably and/or otherwise selectively decouple,for example, the actuation device 506 from the gear 204 d, the baseplate 202, and/or other components of the door actuator assembly 200. Inparticular, a passenger may provide an input via the input device 512 inemergency situations, in situations in which the door actuator assembly200 is not functioning properly, and/or in other situations in which thepassenger wishes to manually open the vehicle door 126 withoutassistance from the actuation device 506. In response, the input device512 may generate a corresponding electronic and/or mechanical signalindicative of a request to disconnect the actuation device 506 from, forexample, the fourth gear 204 d, and the input device 512 may providesuch a signal to the controller 504 for processing. Upon receipt of sucha signal from the input device 512, the controller 504 may operate oneor more power sources associated with the vehicle 110 to direct currentto the disconnect device 508, thereby activating the disconnect device508 and decoupling the actuation device 506 from the fourth gear 204 d,allowing the base plate 202 to spin freely about the rotational axis Y.As noted above, in some examples the disconnect device 508 may compriseone or more clutches, planetary gear systems, independently movablelinkages, and/or other structures of the vehicle door actuator assembly200. Accordingly, activating the disconnect device 508 may mechanicallydisconnect an output shaft or other output mechanism of the actuationdevice 506 from at least one of the gear 204 d and the base plate 202.By decoupling the actuation device 506 via the disconnect device 508,the vehicle door 126 to which the vehicle door actuator assembly 200 isconnected may then be opened manually by the passenger withoutassistance from, for example, the actuation device 506. In any of theexamples described herein, the method 700 may also include one or moresimilar operations in which the controller 504 may deactivate thedisconnect device 508 in order to mechanically couple the output shaftor other output mechanism of the actuation device 506 with at least oneof the gear 204 d and the base plate 202.

Based on the foregoing, it should be appreciated that although thesubject matter presented herein has been described in language specificto structural components of example vehicle door actuator assemblies200, structural features of an example controller 504, methodologicalacts, computer readable media, and/or other structural componentsoperably connected to the controller 504, it is to be understood thatthe invention defined in the appended claims is not necessarily limitedto the specific features, acts, or media described herein. Rather, thespecific features, acts, and media are disclosed as example forms ofimplementing the subject matter recited in the claims.

The subject matter described above is provided by way of illustrationonly and should not be construed as limiting. Furthermore, the claimedsubject matter is not limited to implementations that solve any or alldisadvantages noted in any part of this disclosure. Variousmodifications and changes may be made to the subject matter describedherein without following the examples and applications illustrated anddescribed, and without departing from the spirit and scope of thepresent invention, which is set forth in the following claims.

What is claimed is:
 1. A vehicle, comprising: a vehicle body defining afirst interior space; an actuator assembly connected to the vehiclebody; a vehicle door; a housing defining a second interior space; a baseplate coupling the vehicle door to the vehicle body; and a gear coupledto the base plate, the gear being driven by the actuator assembly tomove the vehicle door between an open position providing access to thefirst interior space and a closed position substantially prohibitingaccess to the first interior space, wherein in the closed position thebase plate is disposed substantially within the second interior space ofthe housing, wherein the base plate is rotatable about an axissubstantially perpendicular to the base plate to move the vehicle dooralong a travel path extending from the open position to the closedposition while maintaining an outer surface of the vehicle doorsubstantially parallel to a longitudinal axis of the vehicle along thetravel path, wherein the gear comprising a first gear and is locatedproximal the vehicle body, the vehicle further comprising: a second gearcoupled to the first gear, wherein rotation of the first gear causesrotation of the second gear to move the vehicle door relative to thebase plate.
 2. The vehicle of claim 1, wherein the housing furthercomprises a guard movably coupled to the housing, the guard covering atleast a portion of the second interior space of the housing when thevehicle door is in the open position.
 3. The vehicle of claim 1, whereinthe base plate is substantially linear in shape along a longitudinalaxis of the base plate, the base plate comprising: a first portionextending linearly along the longitudinal axis of the base plate andcoupled to the vehicle door; and a second portion disposed opposite thefirst portion, the second portion extending linearly along thelongitudinal axis of the base plate and coupled to the vehicle body. 4.The vehicle of claim 1, wherein the base plate comprises: a firstportion at a first end of the base plate, the first portion having asubstantially curved or arcuate shape and being coupled to the vehicledoor; a second portion disposed at a second end of the base plateopposite the first end, the second portion extending substantially in alinear direction and coupled to the vehicle body; and an intermediateportion disposed adjacent to the first portion and the second portion,the intermediate portion comprising a corner that is disposed proximateto the vehicle body when the vehicle door is in the open position. 5.The vehicle of claim 1, wherein the base plate comprises: a firstportion extending substantially linearly, the first portion beingcoupled to the vehicle door; a second portion substantially parallel toand spaced apart from the first portion, the second portion beingcoupled to the vehicle body; and an intermediate portion disposedbetween and coupled to the first portion and the second portion, theintermediate portion forming an acute angle with the first portion andforming an acute angle with the second portion.
 6. A system, comprising:a vehicle door; and an actuator assembly housing configured to becoupled to a vehicle body, the actuator assembly housing comprising abase plate coupling the vehicle door to the actuator assembly housing,the base plate being driven by an actuator device to move the vehicledoor between an open position and a closed position; and a gear coupledto the base plate, wherein the base plate comprises a first plate and asecond plate, the first plate and second plate forming a space betweenthe first plate and second plate and the gear is disposed within thespace, and wherein the base plate is rotatable about an axissubstantially perpendicular to the base plate to move the vehicle doorfrom the open position to the closed position while maintaining an outersurface of the vehicle door substantially parallel to a longitudinalaxis of the vehicle body.
 7. The system of claim 6, wherein the actuatorassembly housing comprises an interior space, wherein in the closedposition the base plate is disposed substantially within the interiorspace of the actuator assembly housing.
 8. The system of claim 6,wherein the actuator assembly housing further comprises a guard movablycoupled to the actuator assembly housing, the guard covering at least aportion of an opening of the actuator assembly housing when the vehicledoor is in the open position.
 9. The system of claim 6, wherein the baseplate is at least one of substantially linear in shape, substantiallycurved in shape, or substantially zig-zag shaped.
 10. The system ofclaim 6, wherein the base plate is substantially linear in shape, thebase plate comprising: a first portion extending linearly along alongitudinal axis of the base plate and coupled to the vehicle door; anda second portion disposed opposite the first portion, the second portionextending linearly along the longitudinal axis of the base plate andcoupled to the actuator assembly housing.
 11. The system of claim 10,wherein the base plate further comprises: an intermediate portiondisposed adjacent to the first portion and the second portion, theintermediate portion comprising a corner that is disposed proximate tothe vehicle body when the vehicle door is in the open position; and acamming surface formed by at least a portion of the second portion orthe intermediate portion.
 12. The system of claim 6, wherein the baseplate comprises: a first portion at a first end of the base plate, thefirst portion having a substantially curved or arcuate shape and beingcoupled to the vehicle door; a second portion disposed at a second endof the base plate opposite the first end, the second portion extendingsubstantially in a linear direction and coupled to the vehicle body; andan intermediate portion disposed adjacent to the first portion and thesecond portion, the intermediate portion comprising a corner that isdisposed proximate to the vehicle body when the vehicle door is in theopen position.
 13. The system of claim 6, wherein the actuator device isconfigured to rotate the base plate about the axis, wherein rotating thebase plate about the axis in a first direction moves the vehicle doorfrom the closed position to the open position, and wherein rotating thebase plate about the axis in a second direction opposite the firstdirection moves the vehicle door from the open position to the closedposition.
 14. The system of claim 13, wherein the actuator devicecomprises a motor coupled to the base plate, the system furthercomprising a disconnect device operable to decouple the motor from thebase plate.
 15. A door actuator assembly comprising: an actuationdevice; a housing configured to be coupled to a vehicle body; and a baseplate configured to couple the housing to a vehicle door, the base platebeing drivable by the actuation device to move the vehicle door betweenan open position and a closed position, wherein in the closed positionthe base plate is disposed substantially within the housing; and a gearcoupled to the base plate, wherein: the base plate comprises a firstplate and a second plate, the gear is disposed between the first plateand the second plate, the gear is disposed between the actuation deviceand the vehicle door such that movement of the actuation device causesmovement of the vehicle door via the gear, and the base plate isrotatable about an axis substantially perpendicular to the base plate tomove the vehicle door from the open position to the closed positionwhile maintaining an outer surface of the vehicle door substantiallyparallel to a longitudinal axis of the vehicle body.
 16. The dooractuator assembly of claim 15, wherein the housing further comprises aguard movably coupled to the housing, the guard covering at least aportion of an opening of the housing when the vehicle door is in theopen position.
 17. The door actuator assembly of claim 15, wherein thebase plate is at least one of substantially linear in shape,substantially curved in shape, or substantially zig-zag shaped.